CN1198274A - Transmitted power controller - Google Patents
Transmitted power controller Download PDFInfo
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- CN1198274A CN1198274A CN97190987A CN97190987A CN1198274A CN 1198274 A CN1198274 A CN 1198274A CN 97190987 A CN97190987 A CN 97190987A CN 97190987 A CN97190987 A CN 97190987A CN 1198274 A CN1198274 A CN 1198274A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/24—Radio transmission systems, i.e. using radiation field for communication between two or more posts
- H04B7/26—Radio transmission systems, i.e. using radiation field for communication between two or more posts at least one of which is mobile
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/06—TPC algorithms
- H04W52/12—Outer and inner loops
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0015—Systems modifying transmission characteristics according to link quality, e.g. power backoff characterised by the adaptation strategy
- H04L1/0019—Systems modifying transmission characteristics according to link quality, e.g. power backoff characterised by the adaptation strategy in which mode-switching is based on a statistical approach
- H04L1/002—Algorithms with memory of the previous states, e.g. Markovian models
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/20—Arrangements for detecting or preventing errors in the information received using signal quality detector
- H04L1/203—Details of error rate determination, e.g. BER, FER or WER
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/18—TPC being performed according to specific parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/18—TPC being performed according to specific parameters
- H04W52/20—TPC being performed according to specific parameters using error rate
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/06—TPC algorithms
- H04W52/08—Closed loop power control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/18—TPC being performed according to specific parameters
- H04W52/22—TPC being performed according to specific parameters taking into account previous information or commands
- H04W52/225—Calculation of statistics, e.g. average, variance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/18—TPC being performed according to specific parameters
- H04W52/24—TPC being performed according to specific parameters using SIR [Signal to Interference Ratio] or other wireless path parameters
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Quality & Reliability (AREA)
- Artificial Intelligence (AREA)
- Physics & Mathematics (AREA)
- Probability & Statistics with Applications (AREA)
- Mobile Radio Communication Systems (AREA)
- Monitoring And Testing Of Transmission In General (AREA)
Abstract
An error rate of received signal is measured by a received signal error measuring unit 32, and a target SIR is changed by a target SIR decision unit using the error rate. It is also possible to detect error rate of received signal in an unit of frame using a CRC signal of a frame. It is further possible to detect error rate of received signal by detecting errors of known pilot signals inserted in a constant interval.
Description
The present invention relates to a power controller that is used for digital communication, relate in particular to the moving communicating field that is used for code division multiple access (CDMA) system.
In a cdma system, because a plurality of correspondents use same frequency band, other correspondents' signal just becomes interference signal, has reduced the communication quality of self channel.When a travelling carriage near the base station was communicated by letter simultaneously with a travelling carriage away from the base station, the signal power of receiving in the base station of sending from the near-end travelling carriage was bigger.
Therefore, just produce such problem, communicating by letter between far-end travelling carriage and base station disturbed by the near-end travelling carriage, and this has just caused the reduction significantly of channel quality, that is, and and near-far interference.For solving near-far interference, carried out the research of transmission power control.Transmission power control is used to control transmitted power, make the received power that receiving station receives, or the signal of received power is and the constant of the location independent of travelling carriage just to obtain consistent channel quality like this in service area to the power ratio (SIR) of interference plus noise.Especially for uplink channel, the transmission power control of each travelling carriage is carried out by the base station receiving terminal, makes that the received power or the SIR of the signal that sends from each travelling carriage are constants.In the cdma system of interference signal that other correspondents are produced as white noise, many other correspondents' communication can increase noise power equally, and in this case, the user capacity in same sub-district depends on the reception SIR that reaches the predetermined channel quality.
On the other hand, for down link, because self signal and other correspondents' interference signal is by same transmission route, so the variation of the change in long term of interference signal, short term variations, transient change and the like is all identical with the variation of self channel signal, and, though the noise power difference, the SIR that receives is constant always.
Therefore, when only handling the interference of same cells, needn't carry out transmission power control.But in the CDMA that disturbed by white noise, neighbor cell also communicates with same frequency band, so should consider the interference from other sub-districts.The same with interference power in the same sub-district from the interference power of other sub-districts is the transient change that is caused by Rayleigh fading, still, because it is different with the variation of self travelling carriage useful signal, just need follow the tracks of transient change with transmission power control.
To use the closed loop transmission power control system of transmission power control bit as the transmission power control system of following the tracks of transient change.When a base station in this base station cell during with a mobile communications, this moving table measuring is from the reception SIR of the useful signal of base station, and determines the transmission power control bit according to measurement result, with the transmitted power of control base station.This travelling carriage inserts this transmission power control bit in this transmission signal, and it is sent to the base station.This base station receives the signal from travelling carriage, extracts this transmission control bit, and determines this transmitted power according to the indication of this transmission power control bit.Then, this base station measurement is from the reception SIR of the useful signal of travelling carriage, and determines the transmission power control bit according to measurement result, to control the transmitted power of this travelling carriage.This base station is inserted this transmission power control bit and is sent in the signal, and it is sent to the base station.This travelling carriage receives the signal that send this base station, extracts this transmission control bit, and determines transmitted power according to the indication of this transmission power control bit.
The target of carrying out transmission power control is the channel quality (FER: the frame error rate, or BER: bit error rate) be predetermined value that keeps this channel.
Fig. 1 has shown maximum doppler frequency and for reaching the relation between the required reception SIR of predetermined channel quality, has transmitted employed path number as a parameter with multipath among the figure.Different with the difference of communication environments for reaching the required reception SIR of predetermined channel quality, the latter is the rate travel of travelling carriage for example, i.e. Shuai Luo maximum doppler frequency, multipath number and similar parameters.Therefore, there is such problem in original transmission power control technology based on measurement reception SIR: under the communication environments condition of extreme difference channel quality, need to set one and receive SIR numerical value, even and under communication environments preferably, also send with higher transmitted power.In addition, also there is such problem: when the precision of measuring reception SIR is low, owing to be to carry out transmission power control according to the measurement result of error code, so can not send with correct transmitted power.
For overcoming the above problems, a target of the present invention is to finish transmission power control, so that thick-and-thin channel quality to be provided, and with communication environments or to receive the sir measurement precision irrelevant.
In the mobile communication system that comprises base station and travelling carriage, the power controller of at least one base station and a travelling carriage is provided, this power controller comprises following feature:
Be used for measuring the device that receives SIR (signal is to the power ratio of interference plus noise);
Be used for and receive the measurement result of SIR and the device that the SIR predetermined target value compares;
Be used for transmission power control information being outputed to the device of remote station according to this comparative result;
Be used to receive and conciliate the device of transferring from the transmission power control information of remote station;
Be used for transmission power control information, control the device of the transmitted power of self standing according to this demodulation;
Be used to measure the error code/rate measurement mechanism of the received signal error rate; And
Be used for changing the device of this sir target value according to the received signal error rate.
Herein, this measuring device for error code rate can comprise:
Be used for being added in the device of CRC (cyclic redundancy detection) the bit-detection frame error code of radio frame signal by detection;
Be used to calculate the frame number of bit errors destination device in any Measuring Time; And
Be used for device that measured frame error code numerical value is compared with predetermined frame error code numerical value.
This measuring device for error code rate can comprise:
Be used for detecting the device that the frame error code occurs by the CRC bit that detection is added in radio frame signal;
Be used for determining the device of the rolling average of arbitrary number frame error code according to this frame error code; And
Be used for will this measured frame error code the rolling average device of comparing with the predetermined frame error code values, this is relatively more irrelevant with the arbitrary number frame period.
Be used to change this device that receives the sir target value:
When measured frame number of errors or rolling average during less than set point, indication reduces by a predetermined steps long value with this sir target value, and when this frame number of errors or rolling average during greater than set point, indication is with predetermined steps long value of this sir target value increase.
This measuring device for error code rate can comprise:
Be used to detect the device of the position error code of the known pilot signal of inserting the radio frames predetermined time slot;
Be used to calculate the position number of bit errors destination device in any Measuring Time; And
Be used for device that this location number of errors is compared with default location number of errors.
This measuring device for error code rate can comprise:
Be used to detect the device of the position error code of the pilot signal of inserting at the radio frame signal predetermined time slot;
Be used for determining the device of position error code moving average in any a period of time according to the position error code; And
The device that the position error code moving average that is used for that this is measured is compared with the pre-determined bit error code values, this is relatively more irrelevant with this any period.
Be used to change the device that receives the sir target value:
When in the position of survey pilot signal number of errors or moving average during less than set point, can indicate the sir target value is reduced by a predetermined steps long value, and when position number of errors or rolling average during greater than set point, can indicate increases a predetermined steps long value with the sir target value.
As mentioned above, owing to detect FER or BER, changing the desired value that receives SIR, can carry out transmission power control not received under the situation that the sir measurement precision influences.
Fig. 1 is a chart, and the maximum doppler frequency and for reaching relation between the required reception SIR of predetermined channel quality of having drawn transmits employed path number as a parameter with multipath among the figure;
Fig. 2 is a block diagram, is used for explaining according to the present invention the principle of this power controller;
Fig. 3 is a block diagram, an embodiment of this power controller that drawn;
Fig. 4 is a block diagram, another embodiment of this power controller that drawn.
With reference to accompanying drawing, embodiments of the invention have been described below.
Principle of the present invention will illustrate with Fig. 2.Fig. 2 is the block diagram that relates to the present invention's part in the emittor/receiver of a base station or a travelling carriage in the mobile communication system.
In Fig. 2, received signal becomes a baseband signal by RF unit 3, is for conversion into a digital signal via A/D then.In demodulate/decode device 31, this digital signal is carried out for example despreading or similar processing, to be decoded as digital information.
In sir measurement unit 6, measure via this signal of demodulate/decode device 31 power ratio (SIR) to interference plus noise.In comparator 7, this reception SIR is compared the measurement result of this reception SIR with the target SIR value from the target SIR identifying unit for from sir measurement unit 6, obtaining.The result, when this receives SIR less than this target SIR value, from a transmission power control bit decision unit 13, produce one and be used to indicate the control bit that increases transmitted power, and, when this receives sir value greater than this target SIR value, produce one and be used to indicate the control bit that reduces transmitted power.The transmission power control bit of this generation is sent to Target Station, to control the transmitted power of this Target Station.This control is identical with the transmission power control of prior art.In the present invention, the error rate of received signal is measured by a received signal error rate measurement unit 32, and this target SIR value is changed according to the error rate by this target SIR value identifying unit 12.In a frame unit, utilize the CRC signal, can detect by error code to received signal, obtain the error rate of received signal, this CRC signal is an error detecting code in the frame unit that sends.In addition, by detecting the known pilot signal of inserting in the fixed cycle, also can detect the error rate of received signal.
Fig. 3 has shown an embodiment of the transmitter that comprises this power controller of the present invention.
In Fig. 3, antenna of drawn digital 1 expression, 2 is TX/RX antenna duplexers, 3 is received RF unit, 4 is despreaders, and 5 is coherent detector/rake combiner, and 6 is sir measurement unit, 7 is SIR comparators, 8 is Viterbi decoders, and 9 is CRC detectors, and 10 is FER measuring units, 11 is FER comparators, 12 is target SIR identifying units, and 13 is transmission power control bit decision unit, and 14 is signal generators, 15 is encoders, 16 is modulators, and 17 is frequency multipliers, and 18 are one sends radio frequency unit, 19 is transmission power control bit extractor, and 20 is power controllers.
Then, the use of this device in travelling carriage will be described below.Spread-spectrum signal from the base station is received by antenna 1.This received signal is passed through TX/RX antenna duplexer 2, and is imported into received RF unit 3.In this received RF unit 3, this received signal is by band pass filter (BPF), and to remove the outer part of band, then, the local signal that is produced by local oscillator becomes intermediate-freuqncy signal (IF wave band) with frequency transitions.This received signal that has been converted into the IF wave band in frequency is by behind the BPF, and (AGC) is adjusted into the appropriate signal level with this signal by automatic gain controller, is base band then by square detection, and with frequency inverted.Frequency low pass filter (LPF) transfer base band to this received signal after mould/number (A/D) conversion, be output as a digital signal.
This digital signal despreadings despreader 4 of 3 outputs from the received RF unit, and export as narrow-band modulated.Coherent detector/rake combiner 5, be demodulated into rake combined signal from the signal of despreader 4 outputs, and in this sir measurement unit 6, this signal received the measurement of sir value at each predetermined measurement period.Then, the transmission power control bit is extracted by transmission power control bit extractor 19, and is output in the power controller 20.
In this power controller 20, determine transmitted power according to this transmission power control bit, and to sending radio frequency unit 18 output control informations.Then, the received signal that is demodulated into rake combined signal through coherent detector/rake combiner is carried out Veterbi decoding by Viterbi decoder, and exports as information signal.From the Viterbi information signal, detect the CRC bit by CRC detector 9.When not detecting the CRC bit, to FER measuring unit 10 output frame Error detection signals.
In this FER measuring unit 10, (than long many of the sir measurement cycle in this sir measurement unit 6) calculating frame number of errors in any one period cycle, and the FER measurement result is output in the comparator 11.In this FER measuring unit 10, in specific period, measure frame error rate mean value.In this FER comparator 11, carry out comparison with predetermined target value.When this FER value that measures littler than target FER value, FER comparator indicating target sir value identifying unit 12 reduces the target SIR value, and when this FER value that measures during greater than target FER value, this this target SIR value identifying unit 12 of FER comparator 11 indications increases these target SIR values.
In each constant cycle, the measured value in the FER measuring unit 19 is averaged the acquisition measurement result.But,, determine that the average time of FER and target SIR control cycle can be asynchronous by in FER measures, using rolling average.
This rolling average of FER is provided by formula F ER (n)=α * FER (n-1)+(1-α) ERR.Wherein n is the frame ordinal number, and a is a forgetting factor, and ERR is the CRC measurement result, when current n frame normally detects, is 0 promptly, is 1 during error code.
Therefore, in above-mentioned FER rolling average formula, when supposition α=0.9, the CRC measurement of present frame is weighted 0.1, obtains rolling average FER like this.This is relevant with the rolling average of determining 10 frames, and this 10 frame is that every frame moves once.
As mentioned above,, measure by FER measuring unit 10 according to the rolling average notion, can with the average period independent case under determine control to the sir target value.Therefore, for example, can to ask mean time be α=0.999 determining FER to 1000 frames by setting, and per 100 frames are set control to the sir target value.
When this target SIR value changes, except the device of dynamic change desired value, also can only increase or reduce a predetermined steps long value.In this case, measured FER value is than target FER value hour in FER comparator 11, indicate this target SIR value identifying unit 12 that this target SIR value is reduced a predetermined value (step value), and, when this FER measured value is worth when big than target FER, just indicate this target SIR value identifying unit 12 that this target SIR value is increased this predetermined value (step value).
In this SIR comparator 7, at each FER target SIR value of upgrading in the cycle and the reception sir value that in sir measurement unit 6, measures relatively, and, according to comparative result, when receiving sir value less than the target SIR value, this transmission power control bit decision unit 13 produces a control bit indication increases this transmitted power, or when receiving sir value greater than the target SIR value, produce a control bit indication and reduce this transmitted power, and to these signal generator 14 these control bits of output.
In signal generator 14, transmit frame comprises this transmission power control bit that sends from transmission power control bit decision unit 13, and this transmit frame is outputed in the encoder 15.Transmission signal behind the coding is modulated by modulator 16, and then spread spectrum in frequency multiplier 17 outputs in the transmission radio frequency unit 18 then.In sending radio frequency unit 18, the transmission signal that is converted to IF and RF frequency band is according to sending based on the transmitted power from the control information of power controller 20.
Fig. 4 transmitter that comprises another embodiment of power controller of the present invention of having drawn.In Fig. 4, pilot signal detector of 21 expressions, 22 is a bit error rate (BER) measuring units, 23 is BER comparators.With part identical among Fig. 2 by identical symbolic representation.
In the present embodiment, this target SIR is determined by the bit error rate (BER) of pilot signal.Especially, in pilot signal detector 21, the pilot signal that base station and travelling carriage are all known detects from despread signal, when this detected signal and known signal not simultaneously, to BER measuring unit 22 carry-out bit Error detection information.
This BER measuring unit 22 calculates in any periods the pilot signal number of errors of (than long many of sir measurement cycle in the sir measurement unit 6), and this BER measurement result is outputed in the comparator 23.In other words, this BER measuring unit 22 is measured the mean value of the error rate of pilot signal in the specific period.In BER comparator 23, compare with predeterminated target BER value.As a result, this this target SIR value identifying unit 12 of BER comparator 23 indications changes this target SIR value.
Similar to above-mentioned FER measurement, for obtaining measurement result, in BER measuring unit 22, determine the mean value of each fixed cycle.But, as mentioned above, utilize this moving average in the BER measurement, determine that the average time of BER error code can be asynchronous with the target SIR control cycle.
The moving average of this BER is determined by following formula: BER (n)=α * BER (n-1)+(1-α) ERR.Wherein n is the frame ordinal number, and α is a forgetting factor, and ERR is pilot signal Error detection result, that is, in current n frame pilot signal detection just often, it is 0, and when error code, it is 1.
When changing the target SIR value, except the device of dynamic this desired value of change, also can only increase or reduce the predetermined steps long value.In this case, when measured BER value during less than this target BER value, indicate this target SIR value identifying unit that this target SIR value is reduced a predetermined value (step value), and, indicate this target SIR value identifying unit that this target SIR value is increased this predetermined value (step value) when this BER value that measures during greater than target BER value.
As mentioned above, can finish transmission power control,, provide identical channel quality with communication environments with receive under the irrelevant situation of sir measurement precision.
Claims (7)
1. in a mobile communication system that comprises described base station and described travelling carriage, a power controller of at least one base station and a travelling carriage, this power controller comprises:
Be used for measuring the device that receives SIR (signal is to the power ratio of interference plus noise);
Be used for described reception sir measurement result and predetermined sir target value device relatively;
Be used for transmission power control information being outputed to the device of remote station according to described comparative result;
Be used to receive also demodulation from the device of the described transmission power control information of remote station;
Be used for device according to the transmitted power at the transmission power control information Control self of described demodulation station;
Be used to measure the measuring device for error code rate of the received signal error rate; And
Be used for changing the device of described sir target value according to the described received signal error rate.
2. this power controller in the claim 1, wherein said measuring device for error code rate comprises:
CRC (cyclic redundancy detection) bit that is used for being added in by detection radio frame signal detects the device of present frame error code;
Be used in any Measuring Time, calculating described frame number of bit errors destination device; And
Be used for device that the described frame number of errors that measures is compared with predetermined frame number of errors set point.
3. this power controller in the claim 1, wherein said measuring device for error code rate comprises:
Be used for detecting the device of present frame error code by the CRC bit that detection is added in radio frame signal;
Be used for determining with described frame error code the device of the moving average of error code in any number of frames; And
Be used for device that the moving average of the described error code that measures is compared with frame error code predetermined value, this is relatively more irrelevant with the cycle of described any amount frame.
4. this power controller in the claim 2 or 3 wherein is used to change the described device of described reception sir target value:
When the frame number of bit errors that measures or moving average during less than set point, indication reduces by a predetermined steps long value with described sir target value, and when frame number of bit errors or moving average during greater than set point, indication is with predetermined steps long value of described sir target value increase.
5. this power controller in the claim 1, wherein said measuring device for error code rate comprises:
Be used to detect the device of the known pilot signal position error code that inserts the radio frames predetermined time slot;
Be used in any Measuring Time, calculating the device of institute's rheme error code; And
Be used for device that the described position number of bit errors that measures is compared with pre-determined bit number of bit errors set point.
6. this power controller in the claim 1, wherein said measuring device for error code rate comprises:
Be used to detect the device of the pilot signal position error code that inserts the radio frames predetermined time slot;
Be used in any period, utilizing the position error code to determine the device of position error code moving average; And
Be used for device that the moving average of the described error code that measures is compared with pre-determined bit number of bit errors set point, this is relatively more irrelevant with described any period.
7. this power controller in the claim 5 or 6 wherein is used to change the described device of described reception sir target value:
In the position of survey pilot signal number of bit errors or moving average during less than set point, indication reduces by a predetermined steps long value with described sir target value, and number of bit errors on the throne or moving average be during greater than set point, and indication increases a predetermined steps long value with described sir target value.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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JP167054/1996 | 1996-06-27 | ||
JP16705496 | 1996-06-27 | ||
JP167054/96 | 1996-06-27 |
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CN1198274A true CN1198274A (en) | 1998-11-04 |
CN1102308C CN1102308C (en) | 2003-02-26 |
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Application Number | Title | Priority Date | Filing Date |
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CN97190987A Expired - Lifetime CN1102308C (en) | 1996-06-27 | 1997-06-26 | Transmitted power controller |
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US (1) | US6341224B1 (en) |
EP (1) | EP0853393B1 (en) |
JP (1) | JP3660690B2 (en) |
KR (1) | KR100309652B1 (en) |
CN (1) | CN1102308C (en) |
CA (1) | CA2230778C (en) |
DE (1) | DE69729784T2 (en) |
WO (1) | WO1997050197A1 (en) |
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Also Published As
Publication number | Publication date |
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EP0853393B1 (en) | 2004-07-07 |
JP3660690B2 (en) | 2005-06-15 |
DE69729784T2 (en) | 2005-06-23 |
EP0853393A1 (en) | 1998-07-15 |
US6341224B1 (en) | 2002-01-22 |
CN1102308C (en) | 2003-02-26 |
CA2230778A1 (en) | 1997-12-31 |
KR19990044194A (en) | 1999-06-25 |
CA2230778C (en) | 2002-12-03 |
WO1997050197A1 (en) | 1997-12-31 |
KR100309652B1 (en) | 2001-12-17 |
EP0853393A4 (en) | 2002-05-15 |
DE69729784D1 (en) | 2004-08-12 |
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